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<div class="title">CurveLeft Class Reference</div>  </div>
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<p>The <a class="el" href="class_curve_left.html" title="The CurveLeft class will control the car during the 90° left curve.">CurveLeft</a> class will control the car during the 90° left curve.  
 <a href="class_curve_left.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_curve_left_8h_source.html">CurveLeft.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for CurveLeft:</div>
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<div class="center"><img src="class_curve_left__inherit__graph.png" border="0" usemap="#_curve_left_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node2" href="class_line_follow.html" title="LineFollow" alt="" coords="5,5,88,32"/></map>
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Collaboration diagram for CurveLeft:</div>
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<div class="center"><img src="class_curve_left__coll__graph.png" border="0" usemap="#_curve_left_coll__map" alt="Collaboration graph"/></div>
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<area shape="rect" id="node2" href="class_line_follow.html" title="LineFollow" alt="" coords="276,277,359,304"/><area shape="rect" id="node26" href="class_line_center.html" title="The LineCenter class centers the car on the line." alt="" coords="194,368,277,395"/><area shape="rect" id="node4" href="class_move.html" title="Move" alt="" coords="203,187,255,213"/><area shape="rect" id="node18" href="class_extended_move.html" title="Allows to define extended car control instuctions." alt="" coords="56,277,163,304"/><area shape="rect" id="node7" href="class_communication.html" title="Communication" alt="" coords="173,96,285,123"/><area shape="rect" id="node9" href="class_command.html" title="A Command object represents a command sent from the host software." alt="" coords="467,5,548,32"/><area shape="rect" id="node12" href="class_configuration.html" title="Configuration" alt="" coords="25,5,121,32"/><area shape="rect" id="node23" href="struct_move_command.html" title="MoveCommand" alt="" coords="69,187,179,213"/></map>
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<p><a href="class_curve_left-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ad874ee9409da16dccd20549e6c2726b5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#ad874ee9409da16dccd20549e6c2726b5">CurveLeft</a> ()</td></tr>
<tr class="memitem:a0e6f8f5d7f869edfaf34cf3e74676a86"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#a0e6f8f5d7f869edfaf34cf3e74676a86">begin</a> ()</td></tr>
<tr class="memitem:a34930d2641dbbd389c536999a560f158"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#a34930d2641dbbd389c536999a560f158">doJob</a> ()</td></tr>
<tr class="memitem:a2f70c4b1efef29cdf04dff01e6a90336"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#a2f70c4b1efef29cdf04dff01e6a90336">startIt</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a0f7c63a8242780be79a08482380d9caa"><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#a0f7c63a8242780be79a08482380d9caa">drivingCurveIsFinished</a></td></tr>
<tr class="memdesc:a0f7c63a8242780be79a08482380d9caa"><td class="mdescLeft">&#160;</td><td class="mdescRight">This variable is set to true as soon as the curve is driven fully.  <a href="#a0f7c63a8242780be79a08482380d9caa"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:ab6a1d67f5cb502fa3620186cbc8ca50c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_extended_move.html">ExtendedMove</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#ab6a1d67f5cb502fa3620186cbc8ca50c">_extMove</a></td></tr>
<tr class="memdesc:ab6a1d67f5cb502fa3620186cbc8ca50c"><td class="mdescLeft">&#160;</td><td class="mdescRight">The reference to the extended move class.  <a href="#ab6a1d67f5cb502fa3620186cbc8ca50c"></a><br/></td></tr>
<tr class="memitem:a64999fcaca54a93b0c675ee74c3258e7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_line_center.html">LineCenter</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#a64999fcaca54a93b0c675ee74c3258e7">lineCenter</a></td></tr>
<tr class="memitem:a3f46785750e729247f26099a93cfaeb9"><td class="memItemLeft" align="right" valign="top">unsigned long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#a3f46785750e729247f26099a93cfaeb9">_timeCurveLeftStarted</a></td></tr>
<tr class="memitem:a2906472b9d6c45308fe4e385df6c91b6"><td class="memItemLeft" align="right" valign="top">unsigned long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#a2906472b9d6c45308fe4e385df6c91b6">_timeLastCurveLeftCheck</a></td></tr>
<tr class="memdesc:a2906472b9d6c45308fe4e385df6c91b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds the timestamp of the time when the last curve left check was done.  <a href="#a2906472b9d6c45308fe4e385df6c91b6"></a><br/></td></tr>
<tr class="memitem:acd2447811c42de266003d47cf98606e5"><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_curve_left.html#acd2447811c42de266003d47cf98606e5">_lineCenteringStarted</a></td></tr>
<tr class="memdesc:acd2447811c42de266003d47cf98606e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true, as soon as the car has reached the line but a line centering is done before continuing.  <a href="#acd2447811c42de266003d47cf98606e5"></a><br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The <a class="el" href="class_curve_left.html" title="The CurveLeft class will control the car during the 90° left curve.">CurveLeft</a> class will control the car during the 90° left curve. </p>
<p>This class will be started by the state maschine when the 90° angle of the white line is reached (with other words when the left front line sensor has detected white ground).</p>
<h3>How the curve is driven</h3>
<ol>
<li>
The car will start driving a left curve. The angle / speed of how fast this curve is driven is defined in <a class="el" href="class_configuration.html#affa93f2156dbf8041bf4b8084051cd83" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve. This value can go fro...">Configuration::curveSpeedSlowMotor</a> and <a class="el" href="class_configuration.html#a01c64f5ae58a66ab565936b67bbb2b58" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve. This value can go fr...">Configuration::curveSpeedFastMotor</a>. </li>
<li>
After <a class="el" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">Configuration::curveActivateEndSensorOffset</a> milliseconds the left line sensor will be activated. </li>
<li>
The car continues driving a left curve until the left line sensor measures white ground again. </li>
<li>
As soon as white ground has been detected white ground the drivingCurveIsFinished boolean will be set to true indicating that the "drive
 left curve" procedure has finished. </li>
</ol>
<dl class="section see"><dt>See also:</dt><dd><a class="el" href="class_configuration.html#affa93f2156dbf8041bf4b8084051cd83" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve. This value can go fro...">Configuration::curveSpeedSlowMotor</a> </dd>
<dd>
<a class="el" href="class_configuration.html#a01c64f5ae58a66ab565936b67bbb2b58" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve. This value can go fr...">Configuration::curveSpeedFastMotor</a> </dd>
<dd>
<a class="el" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">Configuration::curveActivateEndSensorOffset</a> </dd></dl>

<p>Definition at line <a class="el" href="_curve_left_8h_source.html#l00028">28</a> of file <a class="el" href="_curve_left_8h_source.html">CurveLeft.h</a>.</p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
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          <td class="memname"><a class="el" href="class_curve_left.html#ad874ee9409da16dccd20549e6c2726b5">CurveLeft::CurveLeft</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Constructur for the class with the hardware pins to use. </p>

<p>Definition at line <a class="el" href="_curve_left_8cpp_source.html#l00009">9</a> of file <a class="el" href="_curve_left_8cpp_source.html">CurveLeft.cpp</a>.</p>

</div>
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<hr/><h2>Member Function Documentation</h2>
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          <td class="memname">void <a class="el" href="class_curve_left.html#a0e6f8f5d7f869edfaf34cf3e74676a86">CurveLeft::begin</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td><code> [virtual]</code></td>
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<p>Prepares the <a class="el" href="class_curve_left.html" title="The CurveLeft class will control the car during the 90° left curve.">CurveLeft</a> object to work. The preparations done in here can not be done from within the constructor because of dependencies such as Serial communication. <b>This method needs to be called before this class can be fully used.</b> </p>

<p>Reimplemented from <a class="el" href="class_line_follow.html#afac0ad1ff185b7e5f9b47428cb2e5e48">LineFollow</a>.</p>

<p>Definition at line <a class="el" href="_curve_left_8cpp_source.html#l00019">19</a> of file <a class="el" href="_curve_left_8cpp_source.html">CurveLeft.cpp</a>.</p>

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          <td class="memname">void <a class="el" href="class_curve_left.html#a34930d2641dbbd389c536999a560f158">CurveLeft::doJob</a> </td>
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          <td class="paramname"></td><td>)</td>
          <td><code> [virtual]</code></td>
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<p>Does the job for which this class was written.<br/>
 This method has to be called in regular intervals (as short as possible).<br/>
 The 90° left curve is driven. For details, how this is done, see the class description of <a class="el" href="class_curve_left.html" title="The CurveLeft class will control the car during the 90° left curve.">CurveLeft</a>. </p>

<p>Reimplemented from <a class="el" href="class_line_follow.html#a93ff35747f2ae3bb26998f07243afc3c">LineFollow</a>.</p>

<p>Definition at line <a class="el" href="_curve_left_8cpp_source.html#l00089">89</a> of file <a class="el" href="_curve_left_8cpp_source.html">CurveLeft.cpp</a>.</p>

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<p>Starts the car doing the left curve. </p>

<p>Definition at line <a class="el" href="_curve_left_8cpp_source.html#l00032">32</a> of file <a class="el" href="_curve_left_8cpp_source.html">CurveLeft.cpp</a>.</p>

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<hr/><h2>Member Data Documentation</h2>
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          <td class="memname"><a class="el" href="class_extended_move.html">ExtendedMove</a>* <a class="el" href="class_curve_left.html#ab6a1d67f5cb502fa3620186cbc8ca50c">CurveLeft::_extMove</a><code> [private]</code></td>
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<p>The reference to the extended move class. </p>

<p>Definition at line <a class="el" href="_curve_left_8h_source.html#l00043">43</a> of file <a class="el" href="_curve_left_8h_source.html">CurveLeft.h</a>.</p>

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          <td class="memname">boolean <a class="el" href="class_curve_left.html#acd2447811c42de266003d47cf98606e5">CurveLeft::_lineCenteringStarted</a><code> [private]</code></td>
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<p>Set to true, as soon as the car has reached the line but a line centering is done before continuing. </p>

<p>Definition at line <a class="el" href="_curve_left_8h_source.html#l00054">54</a> of file <a class="el" href="_curve_left_8h_source.html">CurveLeft.h</a>.</p>

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          <td class="memname">unsigned long <a class="el" href="class_curve_left.html#a3f46785750e729247f26099a93cfaeb9">CurveLeft::_timeCurveLeftStarted</a><code> [private]</code></td>
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<p>This variable holds the timestamp when the curve left was started. </p>

<p>Definition at line <a class="el" href="_curve_left_8h_source.html#l00050">50</a> of file <a class="el" href="_curve_left_8h_source.html">CurveLeft.h</a>.</p>

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          <td class="memname">unsigned long <a class="el" href="class_curve_left.html#a2906472b9d6c45308fe4e385df6c91b6">CurveLeft::_timeLastCurveLeftCheck</a><code> [private]</code></td>
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<p>Holds the timestamp of the time when the last curve left check was done. </p>
<dl class="section see"><dt>See also:</dt><dd><a class="el" href="class_curve_left.html#a34930d2641dbbd389c536999a560f158">doJob()</a> </dd></dl>

<p>Definition at line <a class="el" href="_curve_left_8h_source.html#l00052">52</a> of file <a class="el" href="_curve_left_8h_source.html">CurveLeft.h</a>.</p>

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          <td class="memname">boolean <a class="el" href="class_curve_left.html#a0f7c63a8242780be79a08482380d9caa">CurveLeft::drivingCurveIsFinished</a></td>
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<p>This variable is set to true as soon as the curve is driven fully. </p>
<p>With other words this means that the left line sensor has detected white ground so we can continue with the normal line following. </p>

<p>Definition at line <a class="el" href="_curve_left_8h_source.html#l00041">41</a> of file <a class="el" href="_curve_left_8h_source.html">CurveLeft.h</a>.</p>

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          <td class="memname"><a class="el" href="class_line_center.html">LineCenter</a> <a class="el" href="class_curve_left.html#a64999fcaca54a93b0c675ee74c3258e7">CurveLeft::lineCenter</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_curve_left_8h_source.html#l00045">45</a> of file <a class="el" href="_curve_left_8h_source.html">CurveLeft.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>D:/Workspace/Arduino/prencar/<a class="el" href="_curve_left_8h_source.html">CurveLeft.h</a></li>
<li>D:/Workspace/Arduino/prencar/<a class="el" href="_curve_left_8cpp_source.html">CurveLeft.cpp</a></li>
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